CN117985225A - Unmanned aerial vehicle cargo hold air drop system and air drop method - Google Patents

Abstract

The invention relates to the technical field of drone airdrop, and aims to solve the problems of low efficiency and small amount of drone airdrop materials in the prior art. A drone cargo hold airdrop system and an airdrop method are provided. The airdrop system comprises a transmission roller device and a roller assembly installed on the cargo hold floor and on a cargo bridge. The transmission roller device is used to realize automatic loading and unloading of a container platform. The cargo hold is provided with a plurality of storage areas, which are used to store the container platform. Limiting devices are arranged on both sides before and after the flight of each storage area. Two rows of side guide rails are also installed in the cargo hold and on the cargo bridge, which are respectively located on the left and right sides of the container platform. The invention also comprises an umbrella opening device, which is installed in the cargo hold and located above the container platform. The cargo on the container platform is connected to an umbrella bag system, which is connected to the umbrella opening device. After the container platform leaves the cargo hold in the air, the umbrella opening device can open the umbrella bag system and separate it, so as to airdrop the container platform and the cargo to a target location.

Description

UAV cargo hold airdrop system and airdrop method

Technical Field

The present invention relates to the technical field of unmanned aerial vehicle airdrop, and in particular to an unmanned aerial vehicle cargo hold airdrop system and an airdrop method.

Background technique

In recent years, the use of drones to airdrop supplies has become increasingly common in military operations, logistical supply, and disaster relief. Airdropping supplies is the use of aircraft to transport supplies. When the supplies reach the designated location, various descent control techniques are used to ensure that the supplies can land safely.

One way of airdropping supplies in the prior art is to use unmanned helicopters to airdrop supplies, using a slow-drop rope or direct airdrop, but the efficiency of helicopter hovering airdrop is low, and only one piece can be airdropped at a time, which is time-consuming and labor-intensive. In addition, the weight of the airdropped supplies is small, and the volume of the supplies is small, which cannot meet the needs of short-term, rapid, and large-scale airdrop supplies. Another way of airdropping supplies is to convert existing fixed-wing manned aircraft into unmanned aircraft. Although the volume of supplies and the airdrop weight are increased, the modification process will be affected by the original aircraft model. Most aircraft can only airdrop supplies from the side doors. This airdrop method requires the addition of a set of electromechanical systems with a high degree of automation, which has a large weight cost. At the same time, due to the structural limitations of the side door airdrop supplies, there are also disadvantages such as long airdrop time and large dispersion range, which cannot meet the needs of small dispersion range of military supplies and strong airdrop adaptability.

In the field of military supply logistics and combat material utilization, the use of large transport aircraft for airdropping supplies poses a certain risk to the survival of pilots. At the same time, large transport aircraft are less economical when small amounts of supplies are required.

Summary of the invention

The present invention aims to provide a drone cargo hold airdrop system and airdrop method to solve the problems in the prior art of low efficiency of drone airdrop materials, small weight and small volume of airdrop materials, and failure to meet the needs of short-term, rapid and large-scale airdrop materials.

The present invention is achieved by adopting the following technical solutions:

The present invention provides a drone cargo hold airdrop system, comprising a transmission roller device and a roller assembly installed on the cargo hold floor and the cargo bridge, wherein the transmission roller device is used to realize automatic loading and unloading of a container cargo platform, wherein the cargo hold has a plurality of storage areas, wherein the storage areas are used to store the container cargo platforms, and each storage area is provided with a limit device on both sides before and after the flight;

Two rows of side guide rails are also installed in the cargo hold and on the cargo bridge, which are respectively located on the left and right sides of the container platform;

It also includes a parachute opening device, which is installed in the cargo hold and located above the container platform. The cargo on the container platform is connected to a parachute bag system, and the parachute bag system is connected to the parachute opening device. After the container platform leaves the cargo hold in the air, the parachute opening device can open and separate the parachute bag system from it, thereby airdropping the container platform and the cargo to the target location.

As the preferred technical solution:

Two rows of roller assemblies are installed on the cargo hold floor and the cargo bridge.

As the preferred technical solution:

The roller assembly includes a roller bracket, a roller and a shaft. The roller bracket is installed on the cargo hold floor, and the roller is installed on the shaft with a bearing arranged therebetween. Both ends of the shaft are installed on the roller bracket.

As the preferred technical solution:

A retaining ring is installed on the outer side of the bearing.

As the preferred technical solution:

The roller bracket is provided with a roller bracket installation interface, and screws or bolts are installed in the roller bracket installation interface to connect it to the cargo hold floor.

As the preferred technical solution:

The roller assembly is installed on the cargo hold floor in a sunken manner, and the top surface of the roller is higher than the cargo hold floor.

As the preferred technical solution:

The side guide rails are strip-shaped rails arranged along the heading direction of the UAV, and the side guide rails are installed on the fuselage longitudinal beams.

As the preferred technical solution:

Two rows of mounting holes are arranged at the bottom of the side guide rail, and the side guide rail is fixedly mounted on the fuselage longitudinal beam by screws.

As the preferred technical solution:

A plurality of side rollers are arranged on the side guide rails at intervals along the length direction thereof, and the side rollers are used for rolling contact with the side surfaces of the cargo container platform.

As the preferred technical solution:

The axial direction of the side roller is along the vertical direction, and the side roller is installed in the cavity on the side guide rail by screws.

As the preferred technical solution:

The upper end of the side guide rail in the cargo hold is also provided with a flange, and the flange is located above the side of the container platform and is used to vertically limit the container platform.

As the preferred technical solution:

The side guide rail is also provided with a tethering ring, which is installed on the top of the side guide rail.

As the preferred technical solution:

A blocking device is installed on the side guide rail, and the blocking device is located at the front end of the cargo hold. The blocking device is used to prevent the cargo from tipping forward.

As the preferred technical solution:

The blocking device comprises vertical bars respectively connected to the two rows of side guide rails, the vertical bars are connected by horizontal bars, and diagonal braces are connected between the vertical bars and the side guide rails.

As the preferred technical solution:

The limiting device comprises a forward limiting member, which is fixedly mounted on the front end of the cargo hold floor and is used to limit the frontmost loading platform in the cargo hold;

The limiting device also includes a bidirectional limiting lock, which is installed between two adjacent storage areas and is used to limit the loading platform in two directions;

The limiting device also includes a rearward limiting lock, which is installed at the exit of the cargo hold and is used for unidirectional limiting of the container platform.

As the preferred technical solution:

The two-way limit lock and the rear limit lock can limit the position of the container platform when locked, and can avoid affecting the passage of the container platform when the two-way limit lock is unlocked.

As the preferred technical solution:

The two-way limit lock comprises a shell and a shell cover, the shell has a receiving space inside, a pre-flight limit mechanism and a post-flight limit mechanism are installed in the shell, and the pre-flight limit mechanism and the post-flight limit mechanism are installed in parallel in the shell;

An electric control box is also installed on the shell, and the electric control box is used to control the pre-flight limit mechanism and the post-flight limit mechanism.

As the preferred technical solution:

The structure of the rearward limit lock is substantially the same as that of the bidirectional limit lock, except that the rearward limit lock is not provided with the forward limit mechanism.

As the preferred technical solution:

A plurality of concave cavities are provided on the cargo hold floor, covers are installed in the concave cavities, and the two-way limit lock, the rear limit lock and the transmission roller device are installed in the corresponding covers.

As the preferred technical solution:

Position sensors are installed on the cargo hold floor and the cargo bridge to sense the position of the container platform.

As the preferred technical solution:

The parachute opening device includes a post-flight mounting part, a tensioning assembly, a blocking part, a parachute opening pull ring, a pre-flight mounting part and a steel cable. The pre-flight mounting part and the post-flight mounting part are respectively fixedly mounted above the front end and rear end end frames of the cargo hold, the tensioning assembly and the steel cable are connected between the pre-flight mounting part and the post-flight mounting part, the tensioning assembly is used to tension the steel cable, the blocking part is mounted between the tensioning assembly and the steel cable, and the parachute opening pull ring is suspended on the steel cable.

As the preferred technical solution:

The parachute pack system comprises an opening rope, an automatic parachute opener, a guide parachute and a main parachute. The opening pull ring is connected to the guide parachute through the opening rope, the guide parachute is connected to the main parachute sealing rope, and the automatic parachute opener is arranged between the guide parachute and the main parachute sealing rope.

As the preferred technical solution:

The drone cargo hold airdrop system also includes an airdrop system controller installed on the drone, the airdrop system controller is connected to the two-way limit lock, the rear limit lock, and the transmission roller device, the airdrop system controller interacts with the flight tube computer system using wireless communication, and the flight tube computer system sends instructions to the airdrop system controller to control it to perform airdrop operations.

As the preferred technical solution:

The drone cargo hold airdrop system also includes an operation panel installed on the drone, and the operation panel is connected to the airdrop system controller. By operating the operation panel to issue instructions to the airdrop system controller, loading and unloading of the container cargo platform is completed.

The present invention further provides an airdrop method, which uses the above-mentioned drone cargo hold airdrop system to perform airdrop, comprising the following steps:

S1: The UAV reaches the preset position, the aircraft reaches the preset elevation angle, the cargo bridge opens horizontally, and the upper tail hatch opens;

S2: The flight control computer system sends an unlocking command to the airdrop system controller, and the airdrop system controller controls all limit locks to unlock;

S3: Under the action of the cargo gravity, multiple cargo containers move in the reverse direction in sequence, and the parachute pull rings suspended on the steel cables slide along the steel cables;

S4: When the cargo platform moves to the end of the cargo bridge, the cargo platform is separated from the UAV, the parachute pull ring moves to the vicinity of the blocking member, the parachute rope load increases, the parachute rope pulls out the guide parachute, and at the same time, the parachute rope breaks, and the guide parachute quickly inflates;

S5: The guide parachute pulls out the main parachute, which quickly inflates and fills up. The cargo platform slowly descends in the air until it lands on the ground, realizing the airdrop.

In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

1. The UAV cargo hold airdrop system of the present invention has a short loading and unloading cycle, a high degree of automation, and high loading and unloading efficiency;

2. The drone cargo hold airdrop system of the present invention is applied to the drone system, which has high economic benefits;

3. The devices arranged on the floor of the drone cargo hold airdrop system of the present invention are interchangeable, which is convenient for maintenance and repair;

4. The side guide rails and rollers of the drone cargo hold airdrop system of the present invention have high load-bearing capacity and are light in weight;

5. The drone cargo hold airdrop system of the present invention is provided with an arresting device to improve the safety of the system;

6. The parachute opening system of the present invention is provided with an automatic parachute opener to improve the parachute opening success rate;

7. The drone cargo compartment loading system of the present invention can realize the continuous delivery of multiple items with a small distribution range and short airdrop time, thus meeting the needs of short-term, fast and large-volume airdrop of materials.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic plan view of the drone cargo hold airdrop system of the present invention (the figure is rotated 90 degrees for ease of observation).

FIG. 2 is a side schematic diagram of the drone cargo compartment airdrop system according to the present invention.

FIG. 3 is an enlarged schematic diagram of point I in FIG. 1 .

FIG. 4 is a schematic diagram of the installation of the springboard according to the present invention.

FIG. 5 is a schematic diagram of the installation of the umbrella opening device according to the present invention.

FIG. 6 is a schematic structural diagram of the roller assembly of the present invention.

FIG7 is a cross-sectional view taken along the line A-A in FIG6 .

FIG. 8 is a schematic structural diagram of the side guide rail according to the present invention.

FIG. 9 is a cross-sectional view of the side guide rail according to the present invention where the side rollers are installed.

10 is a cross-sectional view of the installation of a tie-down ring on the side rail according to the present invention.

FIG. 11 is a schematic diagram showing the positions of the side guide rails and the loading platform according to the present invention.

FIG. 12 is a schematic diagram of the assembly of the cargo container platform and cargo according to the present invention.

FIG. 13 is a schematic diagram of the installation of the bidirectional limit lock according to the present invention.

FIG. 14 is a schematic structural diagram of the bidirectional limit lock of the present invention.

FIG. 15 is a schematic structural diagram of the umbrella opening device according to the present invention.

FIG. 16 is a schematic diagram of the structure of the parachute bag system of the present invention.

FIG. 17 is an enlarged schematic diagram of point II in FIG. 4 .

Icons: 1-airdrop system controller, 2-roller assembly, 201-roller bracket, 202-roller, 203-shaft, 204-bearing, 205-circlip, 206-roller bracket installation interface, 3-bidirectional limit lock, 301-housing, 302-pre-flight limit mechanism, 303-post-flight limit mechanism, 304-electric control box, 4-transmission roller device, 5-floor, 6-cargo, 7-rearward limit lock, 8-springboard, 9-side guide rail, 901-flange, 902-side roller, 903-side roller bearing, 10-cargo bridge entrance and exit, 11-forward limit piece, 12-first position sensor, 13-second position sensor, 14-third position sensor, 15-fourth position sensor, 16-fifth position sensor, 17-sixth position sensor, 18-operating surface Plate, 19-arresting device, 1901-vertical rod, 1902-cross bar, 1903-diagonal support, 20-parachute pack system, 2001-opening rope, 2002-automatic parachute opener, 2003-guide parachute, 2004-main parachute, 21-fuselage, 22-cargo bridge, 23-support device, 24-upper tail hatch, 25-upper tail hatch shaft, 26-parachute opening device, 2601-rear flight installation parts , 2602-tensioning assembly, 2603-blocking piece, 2604-parachute pull ring, 2605-pre-flight installation piece, 2606-steel cable, 2607-post-flight double-ear hinge, 27-mouth cover, 28-mouth cover installation interface, 29-wiring hole, 30-springboard shaft, 31-cargo bridge shaft, 32-mooring ring, 33-longitudinal beam, 34-container cargo platform, 35-buffer pad, 36-strap.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Example 1

As shown in Figures 1 to 5, this embodiment proposes a drone cargo hold airdrop system, including two rows of roller assemblies 2 installed on the cargo hold floor 5 and the cargo bridge 22, the arrangement direction of the roller assemblies 2 is the same as the heading of the drone, and the two rows of roller assemblies 2 are used to support and reduce drag on the container platform 34 and cargo 6 when loading, unloading or airdropping cargo.

As shown in Fig. 6 and Fig. 7, the roller assembly 2 comprises a roller bracket 201, a roller 202, a shaft 203, a bearing 204 and a retaining spring 205. The roller bracket 201 is mounted on the floor 5. The roller bracket 201 is provided with a roller bracket mounting interface 206 for easy connection with the floor 5. The roller 202 is mounted on the shaft 203, with a bearing 204 disposed therebetween. A retaining spring 205 is mounted on the outer side of the bearing 204. Both ends of the shaft 203 are mounted on the roller bracket 201.

The cargo container 34 is supported on the rollers 202. Since the rollers 202 can rotate freely, the above structure can reduce the friction of the cargo container 34 when it moves in the cargo hold.

The bearing 204 mainly bears radial loads. When a cargo platform 34 slides in the cargo hold, at least 12-14 rollers 202 bear the vertical load of the cargo platform 34 on the rollers 202 . The rollers 202 can realize the heading and counter-heading movement of the cargo platform 34 .

Since the height and space size of the drone are small, in order to increase the stacking height of the cargo 6 and increase the weight of the cargo 6 , the roller assembly 2 adopts a sinking design on the floor 5 to ensure that the top surface of the roller 202 is higher than the floor 5 .

A threshold roller 202 is provided at the end of the cargo bridge 22 to bear the concentrated load of the cargo 6 when the cargo 6 is unloaded from the cabin.

As shown in Figures 8 to 11, the drone cargo hold airdrop system also includes two rows of side guide rails 9, which are installed on the fuselage longitudinal beams 33. The two rows of side guide rails 9 are respectively located on both sides of the cargo platform 34, and are used to guide, laterally and vertically limit the cargo platform 34.

The side guide rail 9 is a strip rail arranged along the heading direction of the UAV. Two rows of mounting holes are set at the bottom of the side guide rail 9. It is fixed on the fuselage longitudinal beam 33 by screws to improve the bearing capacity of the side guide rail 9.

The side guide rail 9 is provided with a plurality of side rollers 902 at intervals along its length direction, and the shaft 203 of the side roller 902 is along the vertical direction. The side roller 902 is installed in the cavity on the side guide rail 9 by screws, and a side roller bearing 903 is installed between the side roller 902 and the screw to ensure that the side roller 902 can rotate freely. The side roller 902 can roll in contact with the side of the cargo container 34, and the side roller 902 can reduce the friction resistance of the cargo container 34 entering the cargo hold and the two sides of the cargo hold, and can limit the lateral position of the cargo container 34 and bear the lateral load of the cargo container 34 on the side guide rail 9.

The side roller bearings 903 mainly bear radial loads. When the cargo platform 34 moves laterally in the side guide rail 9 , at least 8-12 side rollers 902 on the side of the cargo platform 34 bear the lateral load of the cargo platform 34 on the side guide rail 9 .

The upper end of the side guide rail 9 is also provided with a flange 901 , and the flange 901 is located above the side of the cargo platform 34 and is used to vertically limit the cargo platform 34 .

The side guide rails 9 are also arranged on the cargo bridge 22. The side guide rails 9 arranged on the cargo bridge 22 have the flanges 901 removed. At the same time, a buffer corner is set at the entrance and exit 10 of the cargo bridge to facilitate smoother loading of goods on the container platform 34.

In this embodiment, the side guide rails 9 are arranged in modular sections.

The side guide rail 9 is also provided with a mooring ring 32 , which is installed on the top of the side guide rail 9 and is used for mooring bulk cargo.

As shown in FIG12 , a blocking device 19 is installed on the side guide rail 9. The blocking device 19 is located at the front end of the cargo hold. Specifically, the two ends of the blocking device 19 are fixedly installed at the front ends of the two rows of side guide rails 9. The blocking device 19 is used to prevent the cargo 6 from tipping forward when the drone lands, brakes, or decelerates during flight, so as to protect the front electrical equipment. The blocking device 19 includes two vertical rods 1901 respectively connected to the two rows of side guide rails 9. The two vertical rods 1901 are connected by a horizontal rod 1902. A diagonal brace 1903 is connected between the vertical rod 1901 and the side guide rail 9. The connection between the rods is connected by screws.

As shown in FIG. 1 , two forward stoppers 11 are further provided on the cargo hold floor 5 . The forward stoppers 11 are located between the two rows of side guide rails 9 and at the front end of the cargo hold. The forward stoppers 11 are used to limit the front end of the container platform 34 .

As shown in Figure 1, two rows of two-way limit locks 3 are also provided on the cargo hold floor 5. A plurality of concave cavities are opened on the floor 5. Covers 27 are installed in the concave cavities. Cover installation interfaces 28 are provided around the cover 27 to facilitate connection with the floor 5.

As shown in Fig. 13 and Fig. 14, the two-way limit lock 3 includes a shell 301 and a shell cover. The shell 301 has a receiving space inside for installing a pre-flight limit mechanism 302 and a post-flight limit mechanism 303. The pre-flight limit mechanism 302 and the post-flight limit mechanism 303 are installed in parallel on the left and right sides of the shell 301. The shell 301 is installed in the cover 27, and the shell cover is flush with the top surface of the cover 27. The pre-flight limit mechanism 302 and the post-flight limit mechanism 303 can extend out of the top surface of the cover 27 and can also be retracted into the shell 301. The pre-flight limit mechanism 302 and the post-flight limit mechanism 303 respectively use a pre-flight limit arm and a post-flight limit arm.

An electric control box 304 is installed in the front direction of the shell 301, and the electric control box 304 can receive a control signal to control the front limit arm and the rear limit arm. The front limit arm and the rear limit arm can be raised or lowered by electric control, and the front limit arm and the rear limit arm are used to bear the load when the cargo 6 is locked.

Two rear limit locks 7 are also provided on the cargo hold floor 5. The rear limit locks 7 are located at the rear end of the cargo hold. The structure of the rear limit locks 7 is basically the same as that of the two-way limit locks 3, except that the pre-flight limit mechanism 302 is not provided.

The bidirectional limit lock 3 and the rearward limit lock 7 are electrically controlled mechanisms, and are used to limit the forward and rearward movement of the cargo platform 34 .

As shown in Fig. 1, a row of transmission roller devices 4 is also provided on the cargo hold floor 5, and the transmission roller device 4 is located between the two rows of the two-way limit locks 3. The transmission roller device 4 is also installed in the opening cover 27 on the floor 5, and the transmission roller device 4 is used to assist the loading and unloading of the cargo container 34 in the loading and unloading process.

As shown in Fig. 13, the cover 27 is provided with a wiring hole 29 to facilitate the wiring of the two-way limit lock 3, the rear limit lock 7 and the transmission roller device 4. The floor 5 and the equipment on the floor 5 are interchangeable, which is convenient for maintenance and use.

The cargo platform 34 is placed between the forward limiter 11 and the frontmost two-way limit lock 3, between the two-way limit locks 3 adjacent to each other, and between the two-way limit lock 3 at the rearmost end and the rearward limit lock 7. Goods 6 are placed on the cargo platform 34, and a cushion 35 and a strap 36 are provided on the goods 6. In this embodiment, eight two-way limit locks 3 and five transmission roller devices 4 are installed on the cargo hold floor 5, the front four transmission roller devices 4 are located between two of the two-way limit locks 3, and the rearmost transmission roller device 4 is located between two of the rearward limit locks 7, forming a total of five cargo platform storage areas, and two transmission roller devices 4 are also installed on the cargo bridge 22.

Furthermore, five position sensors are installed on the cargo hold floor 5, which are the first position sensor 12, the second position sensor 13, the third position sensor 14, the fourth position sensor 15, and the fifth position sensor 16 from the front end to the rear end of the cargo hold, and each position sensor is located on one side of the two-way limit lock 3 and the rear limit lock 7. A position sensor is also provided on the cargo bridge 22, which is the sixth position sensor 17. The position sensor is used for sensing the position of different cargoes for airdrop.

As shown in FIG. 15 , the drone cargo hold airdrop system also includes a parachute opening device 26, which is arranged above the cargo platform 34 and the cargo 6, and is used to bear the parachute opening load when the cargo 6 is airdropped. The parachute opening device 26 includes a post-flight mounting part 2601, a tensioning assembly 2602, a blocking member 2603, a parachute opening pull ring 2604, a pre-flight mounting part 2605, and a steel cable 2606. The pre-flight mounting part 2605 and the post-flight mounting part 2601 are respectively fixedly mounted above the front and rear end frames of the cargo hold and are fixed by bolts. A tensioning assembly 2602 and a steel cable 2606 are connected between the pre-flight mounting part 2605 and the post-flight mounting part 2601, and the tensioning assembly 2602 is used to tension the steel cable 2606. Specifically, the post-flight mounting member 2601 is connected to the tensioning assembly 2602 through the post-flight double-ear hinge 2607. The tensioning assembly 2602 can achieve tensioning of the steel cable 2606 by conventional tools without disassembling the hinge through two kinds of threads. The tensioning assembly 2602 is connected to one end of the steel cable 2606 through the blocking member 2603, and the other end of the steel cable 2606 is connected to the pre-flight mounting member 2605. A plurality of parachute pull rings 2604 are installed on the steel cable 2606. The steel cable 2606 has a guiding function, and the parachute pull rings 2604 can slide on the steel cable 2606. Applying grease on the surface of the steel cable 2606 can reduce the friction between the parachute pull ring 2604 and the steel cable 2606, protect the surface of the steel cable 2606, and increase the service life of the steel cable 2606.

As shown in FIG16 , the parachute pull ring 2604 is connected to the cargo 6 through the parachute pack system 20, and the parachute pack system 20 includes a parachute pull rope 2001, an automatic parachute opener 2002, a guide parachute 2003 and a main parachute 2004. The parachute pull ring 2604 is connected to the guide parachute 2003 through the parachute pull rope 2001, and the guide parachute 2003 is connected to the main parachute sealing rope. The automatic parachute opener 2002 is arranged between the guide parachute 2003 and the main parachute sealing rope. The specific working process is as follows: under the gravity of the cargo 6, the cargo container 34 begins to slide out of the cargo hold. After the cargo container 34 leaves the drone cargo hold, the parachute pull ring 2604 slides to the blocking member 2603, and the load of the parachute pull rope 2001 increases until the guide parachute 2003 is pulled out and the parachute pull rope 2001 breaks (the break is at B in FIG16 ). When the guide parachute 2003 is fully inflated, the guide parachute 2003 continues to pull the main parachute sealing rope to open the main parachute 2004 to achieve airdrop. In order to avoid the failure of the guide parachute 2003 to pull the main parachute 2004, an automatic parachute opener 2002 is arranged between the guide parachute 2003 and the main parachute sealing rope. When the guide parachute 2003 fails to pull the main parachute 2004, the automatic parachute opener 2002 starts to work to ensure that the main parachute 2004 is opened and landed safely. The automatic parachute opener 2002 can determine the parachute opening condition by the set speed and altitude.

Furthermore, the drone cargo hold airdrop system also includes an airdrop system controller 1, which is installed in a control room at the front end of the drone. An operation panel 18 is also provided at the rear end of the cargo hold, and the operation panel 18 is connected to the airdrop system controller 1. The airdrop system controller 1 is connected to the two-way limit lock 3, the rear limit lock 7, the transmission roller device 4, each of the position sensors, and a power supply. The airdrop system controller 1 is used to control the opening and closing of the two-way limit lock 3 and the rear limit lock 7, control the operation of the transmission roller device 4, and control the power supply to the system. The airdrop system controller 1 interacts with the flight tube computer system using RS422 communication, and the airdrop system controller 1 can feedback the location information of the cargo 6.

The airdrop system controller 1 controls the opening and closing of the limit lock to complete the airdrop and air transportation functions of the cargo platform. The operator operates the operation panel 18 to issue instructions to the airdrop system controller 1 to complete the loading and unloading of the container cargo platform 34; when performing an airdrop task, the airdrop system controller 1 receives the control instructions of the flight control computer system, coordinates the work of the cargo system, and completes the airdrop task according to the airdrop logic.

The above-mentioned drone cargo hold airdrop system improves the speed, safety and economy of airdropping materials from the tail of the drone, and improves the security, safety and economy of battlefield and logistical supplies.

In this embodiment, the cargo bridge 22 is installed at the tail of the fuselage 21, and is connected to the tail of the fuselage 21 through the cargo bridge shaft 31, so that three states of ground loading, horizontal opening and closing can be realized. As shown in FIG4 and FIG17, a ramp shaft 30 is provided at the tail of the fuselage 21, and the ramp 8 can rotate around the ramp shaft 30. When the cargo bridge 22 is in the three states, the ramp 8 is always placed on the front edge of the cargo bridge 22 to prevent debris from falling into the cargo bridge shaft 31 and affecting the normal operation of the tail door. A support device joint is provided at the lower end of the center of the tail of the fuselage 21, and an in-position switch is provided on the joint. The in-position signal is used to determine whether it is reliably grounded to avoid loading and unloading without installing the support device 23. The support device 23 is used as a ground support equipment for ground loading and unloading, and is used to prevent the entire aircraft from tipping over due to excessive weight of the cargo 6 during loading and unloading.

The ground loading process using the above-mentioned drone cargo hold airdrop system includes the following steps:

S1: The UAV is in the ground parking state, the cargo bridge 22 is opened horizontally, the upper tail hatch 24 rotates around the upper tail hatch shaft 25, the upper tail hatch 24 is opened, the loading platform 34 of the loader is driven to the vicinity of the cargo bridge 22, and the loader is adjusted to align with the cargo bridge 22;

S2: Install the support device 23, transmit the arrival signal to the airdrop system controller 1, the airdrop system controller 1 determines whether the loading and unloading conditions are met, and the airdrop system controller 1 starts the manual autonomous mode;

S3: The limit lock unlocking command is issued to the airdrop system controller 1 through the operation panel 18, and the airdrop system controller 1 controls the 10 limit locks to unlock (the locking arms fall horizontally);

S4: issuing a working instruction of the transmission roller device 4 to the airdrop system controller 1 through the operation panel 18, and the airdrop system controller 1 controls the seven transmission roller devices 4 to work;

S5: The loading vehicle pushes the first cargo platform 34 to transfer from the loading vehicle to the cargo bridge 22. Driven by the transmission roller device 4 on the cargo bridge 22, the cargo platform 34 moves forward along the side guide rail 9 until the cargo platform 34 moves to the vicinity of the forward stopper 11 before the voyage.

S6: The two two-way limit locks 3 at the storage area 1# are locked by the operation panel 18 to the airdrop system controller 1, and the airdrop system controller 1 controls the two two-way limit locks 3 to lock (the locking arms rise vertically);

S7: Hang the corresponding pull ring 2604 of each cargo 6 on the steel cable 2606 (this operation is not required when the container platform 34 is transported by air), and complete the loading of the first container platform 34 in the storage area 1#;

S8: Repeat the above steps S5-S7 to complete the loading of the five loading platforms 34.

The ground unloading process using the above-mentioned drone cargo hold airdrop system includes the following steps:

S1: The UAV is in the ground parking state, the cargo bridge 22 is opened horizontally, the upper tail hatch 24 is opened, and the loading vehicle is adjusted to align with the cargo bridge 22;

S2: Install the support device 23, transmit the arrival signal to the airdrop system controller 1, the airdrop system controller 1 determines whether the loading and unloading conditions are met, and the airdrop system controller 1 starts the manual autonomous mode;

S3: The two limit locks in storage area 5# are unlocked by issuing an unlocking command to the airdrop system controller 1 through the operation panel 18, and the airdrop system controller 1 controls the two limit locks in storage area 5# to unlock (the locking arms fall horizontally);

S4: issuing a working instruction of the cargo bridge 22 and the transmission roller device 4 at the rear end of the cargo hold to the airdrop system controller 1 through the operation panel 18, and the airdrop system controller 1 controls the cargo bridge 22 and the transmission roller device 4 at the rear end of the cargo hold to work;

S5: The cargo platform 34 of storage area 5# moves in the reverse direction along the side guide rail 9, first moves to the cargo bridge 22, and then moves to the loading vehicle. The loading vehicle then transfers the cargo platform 34 to the designated location, completing the unloading of the cargo platform 5# of storage area;

S6: The operating panel 18 issues an unlocking command for the limit lock of storage area 4# to the airdrop system controller 1, and the airdrop system controller 1 controls the two limit locks of storage area 4# to unlock (the locking arms fall horizontally);

S7: The operation panel 18 issues a working instruction to the transmission roller device 4 in the storage area 4# to the airdrop system controller 1, and the airdrop system controller 1 controls the transmission roller device 4 in the storage area 4# to unlock, and the cargo bridge 22 and the transmission roller device 4 at the rear end of the cargo hold are still in working state;

S8: The cargo platform 34 of storage area 4# moves in the reverse direction along the side guide rail 9, first moves to the cargo bridge 22, and then moves to the loading vehicle, and the loading vehicle then transfers the cargo platform 34 to the designated location, completing the unloading of the cargo platform 34 of storage area 4#;

S9: Repeat the above steps S7-S8 to complete the unloading of the five loading platforms 34.

The airdrop process using the above-mentioned drone cargo hold airdrop system includes the following steps:

S1: The UAV reaches the predetermined position, the aircraft reaches the predetermined elevation angle, the cargo bridge 22 opens horizontally, and the upper tail hatch 24 opens;

S2: The flight tube computer system sends an unlocking command to the airdrop system controller 1, and the airdrop system controller 1 controls all limit locks to unlock (the locking arm falls horizontally);

S3: Under the action of the gravity of the cargo 6, the five cargo containers 34 move in the reverse direction in sequence, and the parachute pull ring 2604 suspended on the steel cable 2606 slides along the steel cable 2606;

S4: until the cargo platform 34 moves to the end of the cargo bridge 22, the cargo platform 34 is separated from the UAV, the parachute pull ring 2604 moves to the vicinity of the blocking member 2603, the load of the parachute rope 2001 increases, the parachute rope 2001 pulls out the guide parachute 2003 in the parachute pack system 20, and at the same time, the parachute rope 2001 breaks at a certain position, and the guide parachute 2003 is quickly inflated;

S5: The guide parachute 2003 pulls out the main parachute 2004, the main parachute 2004 is quickly inflated, and the cargo platform 34 slowly descends in the air until the cargo platform 34 lands, thereby achieving airdrop.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (10)

1. An unmanned aerial vehicle cargo hold air drop system, its characterized in that:

the automatic loading and unloading device comprises a transmission roller device and a roller assembly, wherein the transmission roller device and the roller assembly are arranged on the floor of a cargo hold and a cargo bridge, the transmission roller device is used for realizing automatic loading and unloading of a cargo container table, a plurality of storage areas are arranged in the cargo hold and are used for storing the cargo container table, and limiting devices are arranged on the front and rear sides of each storage area;

two rows of side guide rails are also arranged in the cargo compartment and on the cargo bridge and are respectively positioned at the left side and the right side of the container cargo table;

The device comprises a cargo hold, a cargo opening device, a cargo opening system, a cargo opening device and a cargo opening system, wherein the cargo opening device is installed in the cargo hold and is located above a packaged cargo table, the cargo on the packaged cargo table is connected with the umbrella bag system, the umbrella bag system is connected to the cargo opening device, and after the packaged cargo table leaves the cargo hold in the air, the umbrella opening device can open and separate the umbrella bag system from the cargo opening system, so that the packaged cargo table and the cargo can be air dropped to a target place.

2. The unmanned aerial vehicle cargo hold air drop system of claim 1, wherein:

The side guide rail is provided with a plurality of side rollers along the length direction at intervals, and the side rollers are used for rolling contact with the side surfaces of the container cargo bed.

3. The unmanned aerial vehicle cargo hold air drop system of claim 1, wherein:

The side guide rail is provided with a blocking device which is positioned at the front end of the interior of the cargo hold and is used for preventing the cargo from toppling forward.

4. The unmanned aerial vehicle cargo hold air drop system of claim 1, wherein:

The limiting device comprises a forward limiting piece, wherein the forward limiting piece is fixedly arranged at the front end of the cargo compartment floor and is used for limiting a container cargo table at the forefront end in the cargo compartment;

The two-way limiting lock is arranged between two adjacent storage areas and is used for two-way limiting of the container cargo bed;

The cargo hold further comprises a rear limit lock, wherein the rear limit lock is arranged at the outlet of the cargo hold and is used for limiting the cargo container platform in one way.

5. The unmanned aerial vehicle cargo hold air drop system of claim 4, wherein:

The bidirectional limiting lock comprises a shell and a shell cover, wherein an accommodating space is formed in the shell, a front-voyage limiting mechanism and a rear-voyage limiting mechanism are installed in the shell, and the front-voyage limiting mechanism and the rear-voyage limiting mechanism are installed in the shell in parallel;

The shell is also provided with an electric control box which is used for controlling the front-flight limiting mechanism and the rear-flight limiting mechanism.

6. The unmanned aerial vehicle cargo hold air drop system of claim 5, wherein:

The parachute opening device comprises a post-voyage mounting piece, a tensioning assembly, a blocking piece, a parachute opening pull ring, a pre-voyage mounting piece and a steel cable, wherein the pre-voyage mounting piece and the post-voyage mounting piece are respectively and fixedly mounted above the front end and the rear end frame of the cargo hold, the pre-voyage mounting piece and the post-voyage mounting piece are connected with the tensioning assembly and the steel cable, the tensioning assembly is used for tensioning the steel cable, the blocking piece is mounted between the tensioning assembly and the steel cable, and the parachute opening pull ring is suspended on the steel cable.

7. The unmanned aerial vehicle cargo hold air drop system of claim 6, wherein:

The umbrella bag system comprises an opening rope, an automatic opening device, a guiding umbrella and a main umbrella, wherein the opening pull ring is connected with the guiding umbrella through the opening rope, the guiding umbrella is connected with a main umbrella sealing rope, and the automatic opening device is arranged between the guiding umbrella and the main umbrella sealing rope.

8. The unmanned aerial vehicle cargo hold air drop system of claim 7, wherein:

The unmanned aerial vehicle is characterized by further comprising an air-drop system controller arranged on the unmanned aerial vehicle, wherein the air-drop system controller is connected with the bidirectional limiting lock, the backward limiting lock and the transmission roller device, the air-drop system controller is interacted with a flight tube computer system by adopting wireless communication, and the flight tube computer system issues an instruction to the air-drop system controller to control the air-drop system controller to carry out air-drop operation.

9. The unmanned aerial vehicle cargo hold air drop system of claim 8, wherein:

The system also comprises an operation panel arranged on the unmanned aerial vehicle, wherein the operation panel is connected to the air-drop system controller, and the operation panel is operated to give an instruction to the air-drop system controller so as to finish loading and unloading of the container cargo bed.

10. The method for performing air drop by using the unmanned aerial vehicle cargo hold air drop system according to claim 8, which is characterized in that:

the method comprises the following steps:

s1: the unmanned aerial vehicle reaches the preset position, the airplane reaches the preset elevation angle, the cargo bridge is horizontally opened, and the upper tail cabin door is opened;

S2: the flight tube computer system sends an unlocking instruction to the air-drop system controller, and the air-drop system controller controls all the limit locks to unlock;

S3: under the action of gravity of goods, the plurality of container tables sequentially move along the reverse course, and an umbrella opening pull ring hung on the steel cable slides along the steel cable;

S4: when the container cargo platform moves to the tail end of the cargo bridge, the container cargo platform is separated from the unmanned aerial vehicle, the umbrella opening pull ring moves to the position near the blocking piece, the load of the umbrella opening rope is increased, the umbrella opening rope pulls out the guide umbrella, and meanwhile, the umbrella opening rope is broken, and the guide umbrella is inflated and inflated rapidly;

S5: the guiding umbrella pulls out the main umbrella, the main umbrella is inflated and inflated rapidly, the container goods table slowly falls in the air until the container goods table falls to the ground, and air drop is achieved.